a secure robotics platform for remote vascular...
TRANSCRIPT
1 CorPath Systems are not indicated for neuro interventions, nor is it indicated for remote interventions. 1
A Secure Robotics Platform for Remote
Vascular Interventions
Including PCI and Stroke1
Nicholas Kottenstette - R&D Fellow, Steve Blacker – R&D Fellow, Yao Li – Robotics Systems and SW Engineer II, Shenghe Zhao – Advanced Development Engineer, Todd Lander- Principal Engineer, Per Bergman – VP of R&D
Control Systems and The Quest for Autonomy
A Symposium in Honor of Professor Panos J. Antsaklis
10/28/2018
Vascular Interventions
• Vascular Interventions
– Physician gains access to the patient via an introducer sheath
– Physician navigates guide catheter (GC) to opening of vascular region which requires treatment
• Visualization is typically under X-Ray with a fluoroscope in which a radiopaque contrast is injected into the artery or vessel of interest in order to determine treatment options
– Once diagnosis is complete, treatment of the vessel or artery is commenced using additional devices including
• Micro-catheters
• Guide wires to cross a lesion for example
• Balloon catheters to perform angioplasty
• Stent catheters to deliver a stent
2Control Systems and The Quest for Autonomy
An overview for Coronary (PCI)
• PCI
– Access is typically via the radial (wrist) or
femoral artery (groin)
– Most interventions involve a GC which is
seated in the left or right coronary ostium
typically with the aid of a J-wire
– Physician typically steers GW past lesion in
order to allow delivery of RX device
– RX device includes Semi compliant balloons
for angioplasty, {bare metal, medicated}
Stents, High pressure balloons for post
dilatation of Stent.
– During the procedure patient health is
monitored via Hemodynamics
Remote Interventions
PCI
• Time is Heart Muscle
• Reduce time to treatment in surrounding
rural locations in states including:
– Michigan (Ryan D. Madder, M.D., FACC –
Spectrum Health)
– MN (Eleid, Mackram F., M.D – Mayo Clinic)
• From 2001-2006, The number of US PCI
capable hospitals increased by 44%;
however, the increase of population within
one hour only increased by 2%. Leaving
over 20% of the US population being more
than one hour from a PCI capable hospital2.
3Control Systems and The Quest for Autonomy 2- Concannon TW, Nelson J, Goetz J, Griffith, “A percutaneous coronary intervention lab in every hospital?”’ JL Circ Cardiovasc Qual Outcomes. 2012 Jan;5(1):14-20..
Motivation
Stroke: Time to Treatment is Key
• Time is brain – Quantified, Jeffery Saver
– Typical patients suffering large vessel acute
ischemic stroke loose 120 million neurons, 830
billion synapses, and 447 miles of myelinated
fibers per hour.
• Treating stroke via vascular interventions is an
emerging field with improved benefits to
patient outcome (~900k victims per year in
US).
– Lack of proximity to facilities (distance)
– Limited number of specialists
• Only 35k receiving treatment
– Excellent opportunity for robotic intervention to
increase access and reduce time to treatment.
System Overview
4Control Systems and The Quest for Autonomy
CorPath GRX
Key Corpath GRX Features
• Guide Catheter Control & Management– Prismatic and rotational motion of guide catheter allows
the IC to reseat GC during complex cases when GW and/or SC pushes back due to tortuous lesions.
– Enclosing Sheath Allows us to drive the GC distal of the patient.
• Precise monitoring and control of GW and RX devices.
• Bedside Touchscreen– Instructs bedside technologist through device (GW, BSC)
and GC exchanges.
• techniIQTM – Rotate on Retract– When physicians retracts a GW due to traveling off a the
main path down a child vessel, the Robodrive rotates the GW in order to adjust the tips heading and get back on the main path.
• Radiation Shield & Power Vision Monitor– IC remains seated at console with capacitive JS
interlocking system without 25 lb of lead in order to focus on treating patient.
Permanent magnet synchronous motor (PMSM) Control
PMSM is a motor in which the rotor consists of np in {1, 2, …} pole pairs and stator w/ m in {2, 3} phases.
Assume rotor is cylindrical so the stator inductances, L, are constant in the Direct Quadrature (DQ) frame.
Define electrical angle 𝜃𝑒 = 𝑛𝑝𝜃, torque constant K > 0
Park Transform: 𝑓𝑑𝑓𝑞
=cos 𝑛𝑝𝜃 sin 𝑛𝑝𝜃
− sin 𝑛𝑝𝜃 cos 𝑛𝑝𝜃
𝑓𝛼𝑓𝛽
Therefore, 𝑓𝛼𝑓𝛽
=cos 𝑛𝑝𝜃 − sin 𝑛𝑝𝜃
sin 𝑛𝑝𝜃 cos 𝑛𝑝𝜃
𝑓𝑑𝑓𝑞
Clarke Transform: 𝑓𝛼𝑓𝛽
=
2
3−
1
3−
1
3
01
3
−1
3
𝑓𝑎𝑓𝑏𝑓𝑐
,
𝑓𝑎𝑓𝑏𝑓𝑐
=
1 0
−1
2
3
2
−1
2−
3
2
𝑓𝛼𝑓𝛽
Define: ‘effective Q v’: 𝑣𝑞 = 𝑣𝑞 − 𝐾𝜔
Define: DeQ voltage: 𝑣DQ = 𝑣𝑑 𝑣𝑞
Denote the DQ current as: 𝑖DQ = 𝑖𝑑 𝑖𝑞
Recall skew symmetric matrix as 𝑆 =0 1−1 0
in which 𝑆 = −𝑆T
5Petrovic, V., R. Ortega, and A.M. Stankovic, Interconnection and damping assignment approach to control of PM synchronous motors. IEEE Transactions on Control Systems Technology, 2001. 9(6): p. 811-820..
A Closed Loop Control Law of PMSMs Which Is Asymptotically Stable
PMSM Model:
𝐿 ሶiDQ = ҧ𝑣DQ − 𝑅𝑖DQ + 𝑛𝑃𝜔𝐿𝑆𝑖DQ
𝐽 ሶ𝜔 = 𝐾𝑖𝑞 − 𝜏𝑙 − 𝐵𝜔 − 𝐾𝑑4sin 4𝑛𝑝𝜃 − 𝜏𝑓 tanh𝜋𝜔
𝜔𝑓
DQ Control Law for PI Control of PMSMs𝑒DQ 𝑡 = 𝑖DQ−r − 𝑖DQሶiDQ−I 𝑡 = 𝑘DQ−I𝑒DQ 𝑡
𝑖DQ−c 𝑡 = 𝑘DQ−P𝑒DQ 𝑡 + 𝑖DQ−I 𝑡
𝑣DQ 𝑡 = 𝑅𝑖DQ−c 𝑡 .
The proof for stability involves passivity theory showing: i) that the mapping from the PMSM voltage input 𝑣DQ to the PMSM current output 𝑖𝐷𝑄 is strictly output passive; ii) the PI control law (s.t. 𝑘DQ−P > 0 and 𝑘DQ−I ≥ 0) is strictly input passive; and iii) from the passivity theorem the resulting system is asymptotically stable.
Passivity Based Control of PSMS
PCI
• Time is Heart Muscle
• Reduce time to treatment in surrounding
rural locations in states including:
– Michigan (Ryan D. Madder, M.D., FACC –
Spectrum Health)
– MN (Eleid, Mackram F., M.D – Mayo Clinic)
• From 2001-2006, The number of US PCI
capable hospitals increased by 44%;
however, the increase of population within
one hour only increased by 2%. Leaving
over 20% of the US population being more
than one hour from a PCI capable hospital2.
6Control Systems and The Quest for Autonomy 2- Concannon TW, Nelson J, Goetz J, Griffith, “A percutaneous coronary intervention lab in every hospital?”’ JL Circ Cardiovasc Qual Outcomes. 2012 Jan;5(1):14-20..
Motivation
Stroke: Time to Treatment is Key
• Time is brain – Quantified, Jeffery Saver
– Typical patients suffering large vessel acute
ischemic stroke loose 120 million neurons, 830
billion synapses, and 447 miles of myelinated
fibers per hour.
• Treating stroke via vascular interventions is an
emerging field with improved benefits to
patient outcome (~900k victims per year in
US).
– Lack of proximity to facilities (distance)
– Limited number of specialists
• Only 35k receiving treatment
– Excellent opportunity for robotic intervention to
increase access and reduce time to treatment.
System Overview
7Control Systems and The Quest for Autonomy
Remote Architecture – C2 Corpath GRX, Navigation, and Patient Monitoring
Remote Cath Lab
• Firewall with Real-Time Hardware Enabled
IPSEC VPN (Gigabit, low latency)
• Simulink Real-Time speedgoat target
– USB 3.0 based Image capture and
compression of fluoro via. Magewell
– PTP synchronization to GPS referenced
Grandmaster Clock via ETH3
– FPGA based IO for JS Console
– High Speed CAN interface to GRX Robodrive
– Image and C2 comm via ETH2 with IC
• Host machine
– Console GUI for C2 via ETH1 to speedgoat
– USB 3.0 based Image capture and
compression of Hemodynamics
System Overview
8Control Systems and The Quest for Autonomy
Remote Architecture – C2
Intervention Cardiologist (IC) Office
• Firewall with Real-Time Hardware Enabled
IPSEC VPN (Gigabit, low latency)
• Simulink Real-Time speedgoat target
– Image decompression and display of fluoro
– PTP synchronization to GPS referenced
Grandmaster Clock via ETH3
– FPGA based IO for JS Console
– Image and C2 comm. via ETH2 with RCL
• Host machine
– Console GUI for C2 via ETH1 to speedgoat
– Image decompression and display of
Hemodynamics
– Capacative touchscreen for improved
immersion and access
Remote Technology Development
9Control Systems and The Quest for Autonomy
Achievements & Planned Milestones
Videos & Presentations
• TCT 2018 Presentations
• TCT 2018 Live Cases
• Corindus Channel
For Fun : Deadlock Free Petri Net For IC and RCL C2
Control Systems and The Quest for Autonomy 10
RCL-IC Console Petri Net
11Control Systems and The Quest for Autonomy
RCL without Token & IC without Token
RCL Disabled (without Token) IC Disabled (without Token)
RCL-IC Console Petri Net
12Control Systems and The Quest for Autonomy
RCL with Token & IC without Token
RCL Enabled (with Token) IC Disabled (without Token)
RCL-IC Console Petri Net
13Control Systems and The Quest for Autonomy
RCL without Token & IC without Token
RCL Disabled (without Token) IC Disabled (without Token)
RCL-IC Console Petri Net
14Control Systems and The Quest for Autonomy
RCL without Token & IC with Token
RCL Disabled (without Token) IC Ready to Enable All (with Token)